EP2020381B1 - Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden - Google Patents

Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden Download PDF

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Publication number
EP2020381B1
EP2020381B1 EP07014887A EP07014887A EP2020381B1 EP 2020381 B1 EP2020381 B1 EP 2020381B1 EP 07014887 A EP07014887 A EP 07014887A EP 07014887 A EP07014887 A EP 07014887A EP 2020381 B1 EP2020381 B1 EP 2020381B1
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EP
European Patent Office
Prior art keywords
satellite
orbit
gravity forces
contributions
prediction
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Not-in-force
Application number
EP07014887A
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English (en)
French (fr)
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EP2020381A1 (de
Inventor
Hans L Dr. Trautenberg
Michael Kirchner
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Airbus DS GmbH
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Astrium GmbH
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Priority to AT07014887T priority Critical patent/ATE485220T1/de
Priority to DE602007009972T priority patent/DE602007009972D1/de
Priority to EP07014887A priority patent/EP2020381B1/de
Priority to US12/181,750 priority patent/US8095312B2/en
Publication of EP2020381A1 publication Critical patent/EP2020381A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/02—Details of the space or ground control segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B64G1/1014—Navigation satellites

Definitions

  • the invention relates to a device and a method for orbit determination and prediction of satellites, particularly of navigation satellites, according to claim 1 and 12, respectively.
  • GNSS Global Navigation Satellite System
  • GNSS Global Navigation Satellite System
  • Galileo European satellite navigation system
  • the accuracy of a GNSS depends on several parameters, one of which is the quality of the knowledge of the orbit of each satellite.
  • principal orbit modeling is usually done by means of applying the theory of gravity and estimating non-gravity forces.
  • the non-gravity forces which can hardly or not at all be modeled. While these forces can be empirically estimated in case of orbit determination using any kind of measurements, they significantly limit the accuracy in case of orbit prediction.
  • Non-gravity forces are among others solar radiation pressure, air drag of the Earth's atmosphere, thrusters forces, Earth infrared radiation, magnetic interaction with the Earth's magnetosphere and ionosphere. While the magnitude of these forces might be negligible for orbit propagation of many satellite missions, it is not for navigation satellites where a precise orbit prediction is essential.
  • non-gravity forces are usually treated in a way that an empirical model is fit to the observation residuals after all gravity forces have been subtracted.
  • the empirical model is usually defined in a way that a best fit is obtained and the remaining residuals are very small.
  • FR2784472A1 relates to a satellite orbit control which uses an accelerometer which sends signals to a computer relating to speed changes in the spacecraft due to firing of its thrusters by a controller, and to external forces.
  • the computer runs a program executing a predetermined delta-v profile to maintain the spacecraft orbit in an autonomous manner.
  • a second accelerometer is used to provide speed variation information along an axis different from that of the first.
  • KANG ET AL "Precise orbit determination for GRACE using accelerometer data” ADVANCES IN SPACE RESEARCH, PERGAMON, OXFORD, GB, vol. 38, no. 9, 11 November 2006 (2006-11-11), pages 2131-2136 , XP005761378 ISSN: 0273-1177, describes the gravity recovery and climate experiment (GRACE) satellites and precise orbit determination for GRACE using accelerometer data.
  • the GRACE concept uses a three-axis accelerometer to measure non-gravitational accelerations of a satellite.
  • An essential aspect of the present invention comprises the application of an accelerometer in a satellite, wherein the accelerometer is provided and adapted to measure the non-gravity accelerations acting on the satellite.
  • the measurements may be used to estimate the contributions of non-gravity accelerations to the movement of a satellite, particularly during the orbit determination process.
  • the accuracy which can be achieved for the acceleration measurements may be in the order of about 1 E-8 to about 1 E-9 with very limited effort. Even an accuracy of about 1 E-1 0 might be reachable with acceptable effort.
  • the orbit prediction may be significantly improved over the prior art.
  • a device for orbit prediction of satellites, particularly of navigation satellites wherein the device comprises
  • the processing means may be further adapted to estimate the contributions of the non-gravity forces to the movement of the satellite during an orbit determination process.
  • the device is be adapted to receive satellite attitude data, wherein the processing means may be further adapted
  • the satellite attitude data allow to more precisely process accelerometer measurements by including the satellite's attitude in the processing, particularly in order to remove artificial effects which are introduced by attitude maneuvers and may influence the accuracy of orbit prediction, especially in case the accelerometer is placed off the center of mass of the satellite.
  • the device may be further adapted to receive a signal containing the satellite attitude data from a satellite control agency, according to an embodiment of the invention. Then, the agency may prepare and transmit a signal containing satellite attitude date for correcting the satellite's orbit.
  • the accelerometer might be combined with a gyroscope.
  • the device may comprise a gyroscope being provided and adapted for measuring rotation forces acting on the satellite, wherein the processing means may be further adapted
  • the device may be adapted to use the estimated non-gravity contributions to the satellite's movement determined during the orbit determination process for the orbit prediction and/or the generation of the navigation message for the user.
  • the processing means of the device may be part of a satellite or part of one or several locations on ground.
  • the device may be adapted
  • the integrity alert may be either autonomously sent by the satellite to the users or sent to the processing facility which incorporates this information in the integrity data flow.
  • measured non-gravity forces may be compared with the non-gravity forces used in the orbit prediction for generation of the user message of the satellite, and detected differences may be used to trigger integrity alerts.
  • the integrity alerts may be for example received by a navigation device and used to warn a user of the navigation device about an inaccuracy in the navigation.
  • a further embodiment of the invention provides a navigation satellite being adapted for application in a global navigation satellite system and comprising a device of the invention for accurately predicting the orbit of the navigation satellite.
  • the navigation satellite may be particularly adapted to be applied with Galileo.
  • the navigation satellite may be further adapted to autonomously signal to a user equipment a mis-fit of a maneuver prediction and execution and to send out integrity alert messages in case of mis-fits.
  • This allows implementing a GNSS with a high degree of integrity since users may be warned about inaccurate navigation signals from each satellite.
  • the integrity alert messages may be for example processed in a navigation device and cause a change of processing of satellite signals, for example to switch to processing satellite signals from another satellite which did not send out integrity alert messages.
  • the invention also provides a method for orbit prediction of satellites, particularly of navigation satellites, comprising the following steps:
  • a computer program is provided, which is enabled to carry out the above method according to the invention when executed by a computer.
  • a record carrier storing a computer program according to the invention is provided, for example a CD-ROM, a DVD, a memory card, a diskette, or a similar data carrier suitable to store the computer program for electronic access.
  • the only Fig. shows in a schematic view a navigation satellite 14 comprising an integrated embodiment of the device 10 for orbit prediction of the satellite.
  • the device 10 comprises an accelerometer 12 being adapted to measure accelerations caused by non-gravity forces such as the before mentioned solar radiation pressure, air drag of the Earth's atmosphere, thruster forces, Earth infrared radiation, magnetic interaction with the Earth's magnetosphere and ionosphere etcetera. These non-gravity forces may act on the satellite 14 and cause measurable accelerations.
  • the accelerometer 12 is sensitive enough in order to measure some or the multitude these forces.
  • the accelerometer 12 may be for example a micromechanical acceleration sensor with an integrated sensor signal processing electronic, which is adapted to amplify also small sensor signals caused by small acceleration forces acting on the satellite.
  • the device 10 further comprises a gyroscope 24 which is adapted to measure rotations of the satellite 14. These rotations are usually caused by attitude maneuvers of the satellite 14. These maneuvers cause rotations, which may introduce artificial effects influencing the measurement of accelerations and/or the prediction of the satellite's orbit 18, especially in case the accelerometer 12 is placed off the center of mass of the satellite 14. Therefore, the artificial effects introduced by such maneuvers may influence the accuracy of the orbit prediction and, thus, should be taken into account when an orbit prediction is performed. If the accuracy of the attitude data received with a signal 20 from the satellite control agency 22 is not sufficient, the rotation forces measured with the gyroscope 24 may be considered when processing the accelerometer measurements to perform an orbit prediction.
  • the measurement signals from the accelerometer 12 and from the gyroscope 24 are supplied to processing means 16 such as a microprocessor, programmed to perform a processing of the received measurements and to perform an orbit prediction.
  • the processing means 16 are adapted to estimate the contributions of the measured non-gravity accelerations/forces to the movement of the satellite 14 from the received measurement signals, and to predict the orbit 18 of the satellite 14 based on the estimated contributions of the non-gravity forces to the movement of the satellite 14.
  • the precise measurements of the accelerations of the satellite 14 and the de-coupling from all gravity forces allow a very accurate estimation of the non-gravity accelerations/forces by the processing means 16. This allows deriving parameters during the processing of the measurements and particularly during the determination and prediction of the satellite orbit 18, wherein these parameters may be used to improve the prediction of the satellite orbit 18 by the processing means 16.
  • the processing means 16 may prepare a user message 34 containing the processed orbit prediction, which is forwarded from the processing means 16 to a radio signal sender unit 30 for transmission to the satellite control agency 22 or to the user.
  • the measurements themselves are transmitted to the satellite control agency and the processing is done at the control agency.
  • the measured non-gravity accelerations may be compared by the processing means 16 with the non-gravity forces used in the prediction for a user message.
  • the processing means 16 may trigger an integrity alert which may be transmitted as a integrity alert message 28 to a user equipment 26, for example a portable navigation device, which may warn a user of the device upon receipt of the message 28 about possible inaccuracies during the navigation.
  • this processing does not take place in the satellite but at one or several locations on ground which process the acceleration and rotation measurements transmitted by the satellite. This transmission may take place dissimilar from the frequency used by the user

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Radio Relay Systems (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Claims (13)

  1. Einrichtung (10) zur Bahnvorhersage von Satelliten, umfassend:
    - einen Beschleunigungsmesser (12), der dafür vorgesehen und ausgelegt ist, an einem Satelliten (14) wirkende nicht-Gravitationskräfte zu messen, und
    - Verarbeitungsmittel (16), die für Folgendes ausgelegt sind:
    -- Empfangen gemessener nicht-Gravitationskräfte von dem Beschleunigungsmesser (12),
    -- Schätzen der Beiträge der gemessenen nicht-Gravitationskräfte zu der Bewegung des Satelliten (14) und
    -- Vorhersage der Bahn (18) des Satelliten (14) auf der Basis der geschätzten Beiträge der nicht-Gravitationskräfte an der Bewegung des Satelliten (14),
    wobei die Einrichtung (10) ferner dafür ausgelegt ist, Satellitenlagedaten (20) zu empfangen, dadurch gekennzeichnet, dass
    die Verarbeitungsmittel (16) ferner für Folgendes ausgelegt sind:
    - Bestimmen von durch Lagemanöver des Satelliten (14) eingeführten, künstlichen Effekten auf der Basis der empfangenen Satellitenlagedaten (20) und
    - Berücksichtigen der bestimmten künstlichen Effekte während des Schätzung der Beiträge der nicht-Gravitationskräfte an der Bewegung des Satelliten (14).
  2. Einrichtung nach Anspruch 1, wobei die Verarbeitungsmittel (16) ferner dafür ausgelegt sind, die Beiträge der nicht-Gravitationskräfte an der Bewegung des Satelliten während eines Bahnbestimmungsprozesses zu schätzen.
  3. Einrichtung nach Anspruch 1 oder 2, die ferner dafür ausgelegt ist, ein Signal (20), das die Satellitenlagedaten enthält, von einer Satellitenkontrollbehörde (22) zu empfangen.
  4. Einrichtung nach Anspruch 3, die ferner einen Kreisel (24) umfasst, der dafür vorgesehen und ausgelegt ist, Rotationen des Satelliten (14) zu messen, wobei die Verarbeitungsmittel (16) ferner für Folgendes ausgelegt sind:
    - Empfangen gemessener Rotationen von dem Kreisel (24) und
    - Bestimmen von durch Lagemanöver des Satelliten eingeführten künstlichen Effekten auf der Basis der empfangenen gemessenen Rotationen, wenn die Genauigkeit der von der Satellitenkontrollbehörde (22) empfangenen Satellitenlagedaten (20) nicht ausreicht.
  5. Einrichtung nach einem der vorhergehenden Ansprüche, die ferner für Folgendes ausgelegt ist:
    - Vergleichen der gemessenen nicht-Gravitationskräfte mit bei der Bahnvorhersage verwendeten nicht-Gravitationskräften zur Erzeugung der Benutzernachricht und
    - Triggern eines Integritätsalarms für ein Satelliten-Entfernungsbestimmungssignal, wenn das Ergebnis des Vergleichs größer als eine vordefinierte Schwelle ist.
  6. Einrichtung nach einem der vorhergehenden Ansprüche, die die während des Bahnbestimmungsprozesses bestimmten geschätzten nicht-Gravitationsbeiträge an der Bewegung des Satelliten für die Bahnvorhersage und die Erzeugung der Navigationsnachricht für den Benutzer verwendet.
  7. System zur Bahnvorhersage von Satelliten mit einem Satelliten und einer Einrichtung nach einem der vorhergehenden Ansprüche, wobei die Verarbeitungsmittel (16) Teil des Satelliten sind.
  8. System zur Bahnvorhersage von Satelliten mit einem oder mehreren Standorten am Boden und einer Einrichtung nach einem der Ansprüche 1 bis 6, wobei die Verarbeitungsmittel (16) Teil des einen oder der mehreren Standorte am Boden sind.
  9. Navigationssatellit (14), der für Anwendung in einem globale Navigationssatellitensystem ausgelegt ist und eine Einrichtung (10) nach einem der Ansprüche 1 bis 6 zur genauen Vorhersage der Bahn (18) des Navigationssatelliten (14) umfasst.
  10. Navigationssatellit nach Anspruch 9, der ferner dafür ausgelegt ist, Benutzergeräten (26) autonom ein Mis-Fit einer Manövervorhersage und -ausführung zu signalisieren und im Fall von Mis-Fits Integritätsalarmnachrichten (28) auszusenden.
  11. Verfahren zur Bahnvorhersage von Satelliten, mit den folgenden Schritten:
    - Messen von nicht-Gravitationskräften, die an einem Satelliten wirken, mit einem Beschleunigungsmesser,
    - Empfangen von gemessenen nicht-Gravitationskräften von dem Beschleunigungsmesser,
    - Schätzen der Beiträge der gemessenen nicht-Gravitationskräfte an der Bewegung des Satelliten und
    - Vorhersagen der Bahn des Satelliten auf der Basis der geschätzten Beiträge der nicht-Gravitationskräfte an der Bewegung des Satelliten,
    - Empfangen von Satellitenlagedaten, gekennzeichnet durch
    - Bestimmen von durch Lagemanöver des Satelliten eingeführten künstlichen Effekten auf der Basis der empfangenen Satellitenlagedaten und
    - Berücksichtigen der bestimmten künstlichen Effekte während der Schätzung der Beiträge der nicht-Gravitationskräfte an der Bewegung des Satelliten.
  12. Computerprogramm zum Ausführen des Verfahrens nach Anspruch 11, wenn es durch einen Computer ausgeführt wird.
  13. Aufzeichnungsträger, der ein Computerprogramm nach Anspruch 12 speichert.
EP07014887A 2007-07-30 2007-07-30 Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden Not-in-force EP2020381B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AT07014887T ATE485220T1 (de) 2007-07-30 2007-07-30 Vorrichtung und verfahren zur bahnbestimmung und -vorhersage von satelliten, die signale an benutzer aussenden
DE602007009972T DE602007009972D1 (de) 2007-07-30 2007-07-30 Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden
EP07014887A EP2020381B1 (de) 2007-07-30 2007-07-30 Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden
US12/181,750 US8095312B2 (en) 2007-07-30 2008-07-29 Device and method for orbit determination and prediction of satellites providing signals to users

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07014887A EP2020381B1 (de) 2007-07-30 2007-07-30 Vorrichtung und Verfahren zur Bahnbestimmung und -vorhersage von Satelliten, die Signale an Benutzer aussenden

Publications (2)

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EP2020381A1 EP2020381A1 (de) 2009-02-04
EP2020381B1 true EP2020381B1 (de) 2010-10-20

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US8386099B2 (en) * 2010-02-05 2013-02-26 Applied Defense Solutions Method and apparatus for initial orbit determination using high-precision orbit propagation and maneuver modeling
RU2524687C2 (ru) * 2012-11-06 2014-08-10 Открытое акционерное общество "Информационные спутниковые системы" имени академика М.Ф. Решетнёва" Космический измеритель приращения скорости
US10023300B2 (en) * 2015-06-05 2018-07-17 University Of North Dakota Systems and methods for intelligent attitude determination and control
WO2021102669A1 (zh) * 2019-11-26 2021-06-03 中国科学院微小卫星创新研究院 超低轨道卫星轨道自主维持方法
CN120595338B (zh) * 2025-08-04 2025-10-03 中国科学院国家授时中心 一种考虑机动加速度的卫星轨道预报方法及装置

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DE4129630A1 (de) * 1991-09-06 1993-05-06 Deutsche Aerospace Ag, 8000 Muenchen, De Messanordnung und regelungssystem zur lageregelung eines dreiachsenstabilisierten satelliten sowie zugehoerige mess- und regelverfahren
FR2784472A1 (fr) * 1998-10-09 2000-04-14 Loral Space Systems Inc Maintien d'orbite autonome utilisant un accelerometre
JP4118294B2 (ja) * 2005-10-18 2008-07-16 株式会社ウィルコム 移動通信用の無線通信モジュール

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DE602007009972D1 (de) 2010-12-02
US8095312B2 (en) 2012-01-10
ATE485220T1 (de) 2010-11-15
US20090204324A1 (en) 2009-08-13
EP2020381A1 (de) 2009-02-04

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